I have already posted a few questions on the Isaac SDK forum category - due to the lack of activity I am trying my luck here hoping that someone from NVIDIA or with experience integrating Isaac SDK applications with Isaac Sim would help.
Following this tutorial I am running the navsim Isaac SDK application with the Carter navigation stack using Omniverse and the Robot Engine bridge, as specified in the mentioned tutorial.
I am trying to translate the robot in Isaac Sim in the following way:
if self._ar == _dynamic_control.INVALID_HANDLE: self._ar = self._dci.get_articulation("/robot") if self._root_body == _dynamic_control.INVALID_HANDLE: self._root_body = self._dci.get_articulation_root_body(self._ar) self._dci.wake_up_articulation(self._ar) tf = _dynamic_control.Transform() tf.p = self.translate_position self._dci.set_rigid_body_pose(self._root_body, tf)
When I translate the robot in Isaac Sim, the localization in Isaac SDK is incorrect.
Is it possible to translate the robot and keep the localization working? Maybe a way to integrate this translation in the navsim app in Isaac SDK? Or how can I keep the robot localized in place when the translation happens in Isaac Sim?